WO2002061454A1 - Dispositif radar et procede de codage dudit dispositif - Google Patents

Dispositif radar et procede de codage dudit dispositif Download PDF

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Publication number
WO2002061454A1
WO2002061454A1 PCT/DE2001/004913 DE0104913W WO02061454A1 WO 2002061454 A1 WO2002061454 A1 WO 2002061454A1 DE 0104913 W DE0104913 W DE 0104913W WO 02061454 A1 WO02061454 A1 WO 02061454A1
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Prior art keywords
code
signal
modulation
phase
radar device
Prior art date
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PCT/DE2001/004913
Other languages
German (de)
English (en)
Inventor
Siegbert Steinlechner
Thomas Brosche
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to JP2002561968A priority Critical patent/JP2004518141A/ja
Priority to EP01984726A priority patent/EP1358506A1/fr
Priority to US10/240,512 priority patent/US6693582B2/en
Publication of WO2002061454A1 publication Critical patent/WO2002061454A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/22—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using irregular pulse repetition frequency
    • G01S13/222—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using irregular pulse repetition frequency using random or pseudorandom pulse repetition frequency
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
    • G01S13/284—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using coded pulses
    • G01S13/288—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using coded pulses phase modulated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0234—Avoidance by code multiplex
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0235—Avoidance by time multiplex

Definitions

  • the invention relates to a radar device with means for generating a code, means for modulating a transmission signal in a transmission branch with the code, means for delaying the code, means for modulating a signal in a reception branch with the delayed code and means for mixing a reference signal with a reception signal.
  • the invention further relates to a method for coding a radar device comprising the steps of: generating a code, modulating a transmission signal in a transmission branch with the code, delaying the code, modulating a signal in a reception branch with the delayed code and mixing a reference signal with a Received signal.
  • radar devices there are numerous applications for radar devices in the most varied fields of technology. For example, the use of radar sensors is possible for short-range sensors in motor vehicles. Basically, radar devices emit electromagnetic waves from a transmitting antenna. If these electromagnetic waves hit an obstacle, they are reflected and received again by another or the same antenna after the reflection. The received signals are then sent to signal processing and signal evaluation.
  • radar sensors are used in motor vehicles for measuring the distance to targets and / or the relative speed with respect to such targets outside the motor vehicle.
  • vehicles that are driving in front or parked can be considered as targets.
  • FIG. 1 shows a schematic representation of a radar device with a correlation receiver of the prior art.
  • a transmitter 300 is caused by a pulse generation 302 to emit a transmission signal 306 via an antenna 304.
  • the transmission signal 306 strikes a target object 308, where it is reflected.
  • the receive signal 310 is received by the antenna 312.
  • This antenna 312 can be identical to the antenna 304.
  • the special feature of the correlation receiver is that the receiver 314 receives a reference signal 320 from the pulse generation 302.
  • the received signals 310 received by the receiver 314 are mixed in the receiver 314 with the reference signal 320.
  • the correlation can be based on the time delay from sending to to receive the radar impulses, for example, the distance of a target object.
  • interference signals which originate, for example, from other transmission antennas, from signal components reflected at the targets.
  • Interference is generated, for example, by other radar sensors, transmitters, consumers on the vehicle electrical system, cell phones or by noise.
  • Methods are already known which use an additional modulation of signals in order to separate interference signals from signal components reflected at targets.
  • PN coding pseudo-noise coding
  • Coding is intended to minimize such interference, with the signal-to-noise ratio ("signal / noise" S / N) in the output signal of the radar device in particular being increased.
  • Such an increase in the S / N ratio makes it possible either to recognize targets with a smaller reflection cross section or to reduce the pulse peak power at constant S / N.
  • the advantages of recognizing targets with a smaller reflective cross-section are, for example, that a motor vehicle not only recognizes a motor vehicle driving in front, but is also more likely to recognize pedestrians or cyclists.
  • the reduction in the pulse peak power has the consequence that less interference is caused by other systems, for example by radio relay systems; in this context, reducing the peak pulse power makes it easier for the sensors to be approved by the responsible regulatory authorities.
  • the invention is based on the radar device of the prior art by modulating one of the signals by means of amplitude modulation (ASK; "Amplitude Shift Keying") and modulating the other signal by means of phase modulation (PSK; " Phase Shift Keying ").
  • ASK amplitude modulation
  • PSK phase modulation
  • S / N ratio an improvement in the S / N ratio is achieved.
  • targets with a significantly smaller reflection cross section can be identified than was possible with radar devices of the prior art with pure BPSK ("Binary Phase Shift Keying") or amplitude modulation. It is also possible to reduce the peak pulse power with a constant S / N ratio.
  • the code is a pseudo-noise code (PN code).
  • PN code pseudo-noise code
  • the transmission signal is preferably modulated by amplitude modulation, and the signal in the reception branch is modulated by phase modulation.
  • the use of an amplitude modulation ASK in the transmission branch leads to an improvement in the S / N ratio compared to pure phase modulation PSK.
  • the average transmission power drops approx. 3 dB compared to phase modulation PSK in the transmission branch.
  • the modulation of the transmission signal takes place by phase modulation and that the modulation of the signal in the reception branch takes place by amplitude modulation.
  • the first embodiment is advantageous if the means for mixing the reference signal with the received signal output an output signal to a low-pass filter.
  • the output signal of the mixer is integrated with the low pass, so that a suitable signal is available for further processing.
  • Digital means for controlling the delay are preferably provided in the first embodiment.
  • Such digital means for example a microcontroller or a digital signal processor, are able to delay both the pulse repetition frequency and the PN code in a suitable manner, so that the signals in the receiving branch experience the required correlation.
  • circuit means are provided for controlling the delay.
  • circuit means are provided for controlling the delay.
  • the means for generating and delaying an n-bit PN code are preferred realized as an n-bit counter with combinatorial connection of the counter outputs.
  • An n-bit shift register provides several outputs, the same PN code being provided at each output with a different time delay. It is thus possible in a simple manner to provide any code delays by means of a corresponding combinatorial combination of the weighted outputs.
  • the reception branch is divided into a number of channels which use a plurality of PN codes for modulation, and if a number of low-pass filters are provided for further processing of the modulated signals.
  • the radar device can be expanded for the evaluation of other signals which have been sent by other radar sensors and modulated with other PN codes.
  • the first embodiment it is particularly advantageous if means for blanking out phase transitions are provided. Since the phase change is not instantaneous in the real setup, errors occur after the signal is integrated. However, if the phase-modulated signal is blanked out during the transition between the different phase positions, these errors can be minimized.
  • the bandwidth of the amplitude spectrum increases. This improves the ability to separate between different targets with the same pulse repetition frequency, but with a smaller step size for shifting the PN code is required. Alternatively, the pulse width can be increased with almost unchanged spatial resolution, separability, step size and bandwidth.
  • a means for blanking out phase transitions preferably has a means for pulse shaping and a switch, the switch being arranged in series with a means for phase modulation.
  • the order of the means for phase modulation and the switch is arbitrary. It is also conceivable that the blanking is between the receiving antenna and the mixer or between the mixer and the subsequent low pass.
  • the phase modulation can also be between the receiving antenna and the mixer.
  • a suitable time window for blanking is generated by the pulse shaping.
  • the invention is based on the fact that the modulation of at least one of the signals is carried out by a phase modulation (PSK; "Phase Shift Keying") and that means for blanking out phase transitions are provided. Since the phase change is not instantaneous in the real setup, errors occur after the signal is integrated. However, if the phase-modulated signal is blanked out during the transition period between the different phase positions, these errors can be minimized.
  • PSK Phase Shift Keying
  • the bandwidth of the amplitude spectrum increases. This improves the ability to separate between different targets with the same pulse repetition frequency, whereby however, a smaller step size is required for shifting the PN code.
  • the pulse width can be increased with almost unchanged spatial resolution, separability, step size and bandwidth.
  • the second embodiment of the radar device according to the invention is particularly advantageous if the code is a pseudo-noise code (PN code).
  • PN code pseudo-noise code
  • a means for blanking out phase transitions preferably has a means for pulse shaping and a switch, the switch being arranged in series with a means for phase modulation.
  • the order of the means for phase modulation and the switch is arbitrary. It is also conceivable that the blanking is between the receiving antenna and the mixer or between the mixer and the subsequent low pass. The phase modulation can also be between the receiving antenna and the mixer. A suitable time window for blanking is generated by the pulse shaping.
  • the transmission signal is preferably modulated by amplitude modulation, and the signal in the reception branch is modulated by phase modulation.
  • the use of an amplitude modulation ASK in the transmission branch leads to an improvement in the S / N ratio compared to pure pha- PSK modulation.
  • the average transmission power drops by around 3 dB.
  • the modulation of the transmission signal is carried out by phase modulation and that the modulation of the signal in the reception branch is carried out by amplitude modulation.
  • the second embodiment is advantageous if the means for mixing the reference signal with the received signal output an output signal to a low-pass filter.
  • the output signal of the mixer is integrated with the low pass, so that a suitable signal is available for further processing.
  • Digital means for controlling the delay are preferably provided in the second embodiment.
  • Such digital means for example a microcontroller or a digital signal processor, are able to delay both the pulse repetition frequency and the PN code in a suitable manner, so that the signals in the receiving branch experience the required correlation.
  • circuit means are provided for controlling the delay.
  • circuit means are provided for controlling the delay.
  • the means for generating and delaying an n-bit PN code are in the second embodiment realized as an n-bit counter with combinatorial connection of the counter outputs.
  • An n-bit shift register provides several outputs, the same PN code being provided at each output with a different time delay. It is thus possible in a simple manner to provide any code delays by means of a corresponding combinatorial combination of the weighted outputs.
  • the reception branch is divided into a plurality of channels which use a plurality of PN codes for modulation, and if a plurality of low-pass filters are provided for further processing of the modulated signals.
  • the radar device can be expanded for the evaluation of other signals which have been sent by other radar sensors and modulated with other PN codes.
  • the invention is based on the prior art method in that one of the signals is modulated by amplitude modulation (ASK; "amplitude shift keying") and in that the other signal is modulated by phase modulation (PSK ; "Phase Shift Keying”).
  • ASK amplitude modulation
  • PSK phase modulation
  • the code is preferably a pseudo-noise code (PN code).
  • PN code pseudo-noise code
  • the transmission signal is preferably modulated by amplitude modulation
  • the signal in the reception branch is modulated by phase modulation.
  • the use of an amplitude modulation ASK in the transmission branch leads to an improvement in the S / N ratio compared to pure phase modulation PSK.
  • the average transmission power drops by around 3 dB.
  • the transmission signal is modulated by phase modulation and that the signal in the reception branch is modulated by amplitude modulation.
  • the mixed signal is preferably output to a low-pass filter.
  • the output signal of the mixer is integrated with the low pass, so that a suitable signal is available for further processing.
  • Digital means for example a microcontroller or a digital signal processor, are able to delay both the pulse repetition frequency and the PN code in a suitable manner so that the signals in the receiving branch experience the required correlation.
  • the delay is controlled by circuit means in the first embodiment of the method.
  • circuit means in addition to controlling the delay with digital means, it is also possible to use hardware to implement the delay.
  • an n-bit PN code is preferably generated and delayed by an n-bit counter with a combinatorial combination of the counter outputs.
  • An n-bit shift register provides several outputs, the same PN code being provided at each output with a different time delay. It is thus possible in a simple manner to provide any code delays by means of a corresponding combinatorial combination of the weighted outputs.
  • the invention can be particularly advantageous in that, in the first embodiment of the method, the reception branch is divided into a plurality of channels, which use a plurality of PN codes for modulation, and in that the modulated signals are further processed by a number of low-pass filters. In this way, the radar device can be expanded for the evaluation of other signals which have been sent by other radar sensors and modulated with other PN codes.
  • the bandwidth of the amplitude spectrum increases. This improves the ability to separate between different targets with the same pulse repetition frequency, although a smaller step size is required for shifting the PN code.
  • the pulse width can also be increased with almost unchanged spatial resolution, separability, step size and bandwidth.
  • the first embodiment of the method is particularly advantageous in that a means for blanking out phase transitions has a means for pulse shaping and a switch, the switch being arranged in series with a means for modulating.
  • the order of the means for phase modulation and the switch is arbitrary. It is also conceivable that the blanking is between the receiving antenna and the mixer or between the mixer and the subsequent low pass.
  • the phase modulation can also be between the receiving antenna and the mixer.
  • a suitable time window for blanking is generated by the pulse shaping.
  • the invention is based on the prior art method in that at least one of the signals is modulated by phase modulation (PSK; "phase shift keying") and in that phase transitions are blanked out.
  • PSK phase modulation
  • phase change Since the phase change is not instantaneous in the real setup, errors occur after the signal is integrated. However, if the phase-modulated signal is blanked out during the transition period between the different phase positions, these errors can be minimized.
  • the bandwidth of the amplitude spectrum increases. This improves the ability to separate between different targets with the same pulse repetition frequency, although a smaller step size is required for shifting the PN code.
  • the pulse width can be increased with almost unchanged spatial resolution, separability, step size and bandwidth.
  • the code is a pseudo-noise code (PN code).
  • PN code pseudo-noise code
  • the second embodiment of the method is particularly advantageous in that a means for blanking out phase transitions has a means for pulse shaping and a switch, the switch being arranged in series with a means for modulating.
  • the order of Means for phase modulation and the switch is arbitrary. It is also conceivable that the blanking is between the receiving antenna and the mixer or between the mixer and the subsequent low pass. The phase modulation can also be between the receiving antenna and the mixer. A suitable time window for blanking is generated by the pulse shaping.
  • the transmission signal is preferably modulated by amplitude modulation
  • the signal in the reception branch is modulated by phase modulation.
  • the use of an amplitude modulation ASK in the transmission branch leads to an improvement in the S / N ratio compared to pure phase modulation PSK.
  • the average transmission power drops by around 3 dB.
  • the transmission signal is modulated by phase modulation and that the signal in the reception branch is modulated by amplitude modulation.
  • the mixed signal is preferably output to a low pass.
  • the output signal of the mixer is integrated with the low pass, so that a suitable signal is available for further processing.
  • Digital means for example a microcontroller or a digital signal processor, are able to delay both the pulse repetition frequency and the PN code in a suitable manner, so that the signals in the receiving branch experience the required correlation.
  • the delay is controlled by circuit means in the second embodiment of the method.
  • circuit means in addition to controlling the delay with digital means, it is also possible to use hardware to implement the delay.
  • an n-bit PN code is preferably generated and delayed by an n-bit counter with a combinatorial combination of the counter outputs.
  • An n-bit shift register provides several outputs, with the same PN code being provided at each output with a different time delay. It is thus possible in a simple manner to provide any code delays by means of a corresponding combinatorial combination of the weighted outputs.
  • the second embodiment of the method can be particularly advantageous in that the reception branch is divided into a plurality of channels, which use a plurality of PN codes for modulation, and in that the modulated signals are further processed by a number of low-pass filters. In this way, the radar device can be expanded for the evaluation of other signals which Sensors were sent and modulated with other PN codes.
  • the invention is based on the surprising finding that an improvement in the S / N ratio and the quality of the target acquisition can be achieved by a combination of the amplitude modulation ASK and the phase modulation PSK. With the blanking of the phase transitions, errors due to the instant switching of the phase transitions can be minimized.
  • the use of a discrete code shift allows a linear scanning of the measuring room. The accuracy of this scanning mainly depends on the accuracy of the pulse repetition frequency, which can be set very precisely.
  • the digital circuits for code generation and code shift as well as the switches and mixers can be easily integrated, for example in a "monolithic microwave integrated circuit" (MMIC).
  • MMIC monolithic microwave integrated circuit
  • FIG. 1 is a block diagram of a radar device of the prior art
  • FIG. 3 shows an autocorrelation function of a PN code over different value ranges
  • FIG. 4 shows sections of a PN code and of signals modulated with the PN code
  • FIG. 5 autocorrelation functions of signals modulated in different ways
  • Figure 6 is a schematic representation of an embodiment of a radar device according to the invention.
  • Figure 7 is a schematic representation of a PSK circuit with blanking of phase transitions
  • FIG. 8 shows a schematic illustration of a further embodiment of a radar device according to the invention.
  • FIG. 9 shows a schematic illustration of a further embodiment of a radar device according to the invention.
  • Figure 10 is a schematic representation of a device for generating and shifting a PN code
  • FIG. 11 shows a schematic illustration of a further embodiment of a radar device according to the invention
  • FIG. 12 shows a schematic representation of a circuit for evaluating transmission signals from a plurality of radar sensors
  • FIG. 13 shows a schematic representation of a further circuit for evaluating transmission signals from a plurality of radar sensors
  • FIG. 14 shows a schematic illustration for the generation of derived PN codes
  • Figure 15 assignments of sensors in a motor vehicle with different codes.
  • Figure 2 shows sections of PN codes.
  • a PN code is shown depending on the parameter v.
  • Such PN codes and their shift are used in the context of the present invention to improve the S / N ratio and the ratio of useful signal to Doppler leak signal , Basically, such an improvement can be achieved by increasing the pulse repetition frequency f PW .
  • the maximum pulse repetition rate is limited by the range of the radar:
  • the pulse peak power P t can also be reduced while maintaining the S / N ratio at an increased pulse repetition frequency f P , where P t is proportional to the reciprocal of the pulse repetition rate.
  • a section of an 8-bit PN code selected as an example is shown. If the code used has a suitable autocorrelation function (AKF), the range for distance measurement can be increased by coding the signal.
  • AMF autocorrelation function
  • the autocorrelation function of the PN code represents the result after a multiplication of the PN code with itself and subsequent summation as a function of the shift of the code by v cycles.
  • the condition is on the area of uniqueness
  • the transmit signal of the radar sensor is created by modulating the carrier frequency fo generated with a local oscillator (LO) with the corresponding PN code.
  • LO local oscillator
  • different types of modulation are available, for example PSK, QPSK, ASK, FSK and MSK.
  • the present invention relates to the types of modulation ASK and PSK and to a PSK modulation with blanking of phase transitions.
  • a section of an 8-bit PN code is shown in the upper part of FIG.
  • the middle part shows a signal ASK amplitude-modulated with the PN code.
  • the lower part shows a signal PSK ⁇ phase-modulated with the PN code, the phase transitions being blanked out.
  • transition times occur between the on and off state of the signal with ASK and PSK modulation. These were taken into account in the modeling of the example shown in FIG. 4 with a duration of, for example, 100 ps for the transition between 0 ° and 180 °.
  • PSK modulation of the carrier frequency fo is expedient. The phase position of f 0 is shifted with a PSK modulation between 0 ° and 180 °.
  • FIG. 5 shows examples of autocorrelation functions for different scenarios.
  • the upper part of FIG. 5 shows the autocorrelation function of the ASK-modulated signal.
  • the middle part shows an auto-correlation function of the phase-modulated signal PSK, the phase transitions not being blanked out.
  • the lower part shows a phase modulation of the signal PSK A with blanking of the phase transitions.
  • ⁇ «2 results for the example shown in FIG. 5.
  • PSK modulation without blanking out the phase transitions ⁇ « 10 results and with PSK A modulation with blanking out of the phase transitions, ⁇ «255 results a much better detection of the maximum or more effective interference signal suppression is achieved by blanking.
  • FIG. 6 shows a schematic representation of an embodiment of a radar device according to the invention.
  • the schematic representation is greatly simplified. In particular, only the in-phase (I) channel is shown and the quadrature (Q) channel has been omitted, although in principle this can be constructed identically.
  • the radar device comprises a clock generator 10 for generating a pulse repetition frequency PRF.
  • the pulse repetition frequency is fed to a PN generator 12.
  • a local oscillator 14 (LO) is also provided, which generates a carrier frequency fo of, for example, 24 GHz.
  • the carrier frequency is fed from the local oscillator 14 to a 3 dB power divider 16.
  • the power divider supplies a transmission branch via a first phase modulator 18.
  • the phase modulator 18 is shown here schematically as Switch shown.
  • the power divider 16 supplies a receiving branch via a second phase modulator 20, which can also be implemented as a mixer.
  • the outputs of the phase modulators 18, 20 are each connected to switches 22, 24 for blanking out the phase transitions.
  • the output of the switch 22 in the transmission branch supplies the transmission signal.
  • the output of the switch 24 in the receiving branch is connected to a mixer 26.
  • the mixer receives the received signal.
  • the output of the mixer 26 is connected to a low-pass filter 28, which supplies the in-phase (I) signal as an output signal.
  • a microcontroller or a digital signal processor 30 is also provided, which controls a delay 32. This delay serves to delay both the pulse repetition frequency and the PN code in the receiving branch.
  • the pulse repetition frequency in the receiving branch is given to pulse shaping 36 via the delay 32, which switches 24 for blanking the phase transitions in the receiving branch switch.
  • the PN code is used directly for phase modulation in the transmission branch by switching the switch 18 for phase modulation.
  • the PN code is passed to the switch 20 for phase modulation with a delay.
  • the reception branch ends in a reception antenna 38; the transmission branch ends in a transmission antenna 48.
  • the radar device according to FIG. 6 operates as follows.
  • the local oscillator 14 generates a carrier frequency which is fed to the transmission branch via the power divider 16.
  • the carrier frequency is phase modulated by the phase modulator 18.
  • the phase modulation is carried out by the PN code, which is generated by the PN generator 12.
  • the phase-modulated signal is passed from the phase modulator 18 to a switch 22 for blanking out the phase transitions.
  • This switch is actuated by an output signal of pulse shaping 34, which generates a time window for blanking as a function of pulse repetition frequency 10.
  • the pulse repetition frequency 10 is therefore responsible for the undelayed establishment of a time window for the pulse shaping 34 and for the instantaneous provision of the PN code for the phase modulation 18.
  • the output signal of the power divider 16 is also phase-modulated in the phase modulator 20.
  • phase modulator 20 The output signal of phase modulator 20 is supplied to switch 24 for blanking, switch 24 being actuated by an output signal from pulse shaping 36.
  • This pulse shaping 36 is controlled with a delay by the pulse repetition frequency.
  • the phase modulator 20 is also switched by a delayed PN code.
  • the order of the phase switches 18, 20 and the respective switches for blanking 22, 24 is arbitrary.
  • the blanking can also be located between receiving antenna 38 and mixer 26 or between mixer, mixer 26 and low pass 28.
  • the phase modulation can also be located between receiving antenna 38 and mixer 26.
  • the pulse is formed at the pulse repetition frequency at time t PRF (t).
  • the phase position is switched in the transmission branch with the non-shifted PN code PN (n).
  • the pulse is formed with a delayed pulse repetition frequency PRF (t-T P (v mod0.5)).
  • the phase position is switched in the receiving branch with a delayed PN code PN (n-int (2v) / 2).
  • FIG. 9 A further simplification is shown in FIG. 9.
  • This arrangement shows a radar device according to FIG. 6, but the special case f P ⁇ f PW , u is shown, wherein f PW, u ⁇
  • the half-numbered shift of the PN code is also omitted here. If another code is used, the autocorrelation function of which has a "peak" with a larger width, then f P w, 0f fpru and ⁇ v max increase accordingly.
  • FIG. 10 A possible embodiment of the circuit for generating the desired PN sequence and the PN sequence shifted to it is shown schematically in FIG. 10.
  • the PN coder is implemented with the aid of an n-bit shift register whose outputs Q ⁇ EXOR via suitable linkages to the inputs D ⁇ are connected and provides an n-bit counter is with special counting sequence.
  • the same PN code is obtained at each output Qx with a different time delay.
  • the actual code shift is carried out by the EXOR links 52 between the outputs Q. This can be described as a parity checker (od parity "1"; even parity "0").
  • the assignment of the weights gi is either calculated with the aid of the digital signal processor or the microcontroller 30 or generated by a further suitable PN shift register.
  • the count of the PN coder is decoded 60.
  • a takeover pulse (clock input at latch 50) is generated for the code shift v set by the digital signal processor.
  • the weights g ⁇ are thus updated after each frame run of the PN code.
  • FIG. 11 shows a further schematic illustration of an embodiment of a radar device according to the invention, in which case an amplitude modulation ASK 18a is combined with a phase modulation PSK 20.
  • ASK 18a amplitude modulation
  • PSK 20 phase modulation
  • the special case f P > f PW , o is shown, ie an inversion 40 is sufficient for blanking out the phase transitions.
  • the present combination of ASK and PSK is also possible for the designs according to FIGS. 6 and 9. If PSK is used in the transmission branch and ASK in the reception branch, the average transmission power increases by approx. 3 dB with the same S / N ratio.
  • the method used (pure PSK or a combination of PSK and ASK) can be expanded for the evaluation of the signals sent by other radar sensors and each modulated with a different code PNi.
  • FIG. 12 shows an example in which the transmission signals of several radar sensors with PSK are evaluated in the reception branch.
  • Two mixers 42, 44 are used, each of the mixers being responsible for mixing the received signal with one of the phases involved.
  • the outputs of the mixers 42, 44 are each assigned to the phase modulators 20 0 , 20 ⁇ , 20 2 leads where the phase position is switched.
  • pulse shaping 36 takes place in front of mixers 42, 44.
  • the output signals of the switches 20 0 , 20 ⁇ , 20 2 for switching the phase position are supplied to the low-pass filters TP 0 , TPi, TP 2, not shown.
  • PN codes PNi or PN 2 By coding the signals from the neighboring sensors with different PN codes PNi or PN 2 , interference between the different channels is avoided. Only three channels are shown in FIG. 12, although the arrangement can be expanded to a larger number of channels. Also only the generation of the I signals is shown, the Q signals being obtained analogously with an f 0 phase-shifted by 0
  • FIG. 13 comparable to FIG. 12, a block diagram for the implementation of the evaluation of the transmission signals of several radar sensors is shown, although ASK is used in the reception branch.
  • the mixer 46 mixes the carrier frequency f 0 with the received signal and outputs the mixed signal for the amplitude modulation to the switches 20a 0 , 20a ⁇ and 20a 2 .
  • There an amplitude modulation is carried out by the different PN codes PN, PNi and PN 2 . Because it is the receive branch, a delayed PN code is used.
  • the output signals of switches 20a 0 , 20a ⁇ and 20a 2 are routed to low-pass filters TP 0 , TPi and TP 2 , not shown.
  • FIG. 14 shows a circuit principle for the generation of derived codes with an ideal cross-correlation function (KKF) and the codes delayed by v entire clocks, a counter 54 and a subtractor 56 being provided
  • FIG. 14 shows the part of the circuit for generating the derived codes.
  • FIG. 15 shows an exemplary assignment of sensors 58 in a motor vehicle for three (top) and four (un- ten) different codes. If you select code pairs with a suitable cross-correlation function (KKF is as small as possible), then it is possible to decouple different radar sensors (eg from different vehicles) from one another. A lower susceptibility to interference between different PN-coded radar sensors 58 is achieved.
  • KF cross-correlation function
  • PN codes In addition to the PN codes, there are other binary codes e.g. Gold Codes, Quadratic-Residue Sequences, Pseudo-Random Sequences and Complementary Sequences or ternary codes etc. with similar properties are known.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Dispositif radar doté de moyens (12) destinés à produire un code, de moyens (18) de modulation d'un signal d'émission dans une branche d'émission à l'aide du code, de moyens (32) destinés à retarder le code, de moyens (20) destinés à moduler un signal dans une branche de réception à l'aide du code retardé et de moyens (26) destinés à mélanger un signal de référence avec un signal de réception. La modulation d'un des signaux est une modulation d'amplitude (ASK : modulation par sauts d'amplitude) et la modulation de l'autre signal est une modulation de phase (PSK : modulation par déplacement de phase). La présente invention concerne en outre un dispositif radar dans lequel les transitions de phase sont supprimées. La présente invention concerne également des procédés qui peuvent être avantageusement mis en oeuvre à l'aide des dispositifs radar selon la présente invention.
PCT/DE2001/004913 2001-01-31 2001-12-22 Dispositif radar et procede de codage dudit dispositif WO2002061454A1 (fr)

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JP2002561968A JP2004518141A (ja) 2001-01-31 2001-12-22 レーダ装置，及びレーダ装置をコード化する方法
EP01984726A EP1358506A1 (fr) 2001-01-31 2001-12-22 Dispositif radar et procede de codage dudit dispositif
US10/240,512 US6693582B2 (en) 2001-01-31 2001-12-22 Radar device and method for coding a radar device

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DE10104022A DE10104022A1 (de) 2001-01-31 2001-01-31 Radareinrichtung und Verfahren zum Codieren einer Radareinrichtung
DE10104022.9 2001-01-31

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US6693582B2 (en) 2004-02-17
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DE10104022A1 (de) 2002-08-01

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